Robot Algorithms for Haptic Interaction

智能系统和模拟环境需要直观的界面来进行人机交互。这些可能包括视觉、听觉和触觉界面。与视觉和听觉信息的呈现相比，触觉显示的方法还没有发展得那么好。为了开发在电子原型环境中执行装配或拆卸任务的触觉交互的可能性，除了力/力矩反馈装置之外，开发必要的实时算法和软件系统是势在必行的。PI建议设计用于触觉交互的机器人算法。具体地说，这包括非线性模型和变形体的交互接触确定，以及一般三维几何模型之间的快速渗透深度计算。PI将开发原型软件系统，并将它们与力反馈设备集成，以便在虚拟原型环境中进行触觉交互。除了力的显示，所得到的算法和系统也将对机器人的运动规划和动态仿真有用。将通过为机器人和虚拟样机开发几何计算教学课程来补充研究工作，以便能够更好地开发人力资源。除了在智力上追求我们的研究目标外，PI还将与拟议研究的潜在用户互动，以促进技术过渡。

Intelligent systems and simulated environments require intuitive interfaces for man-machine interaction. These may include visual, auditory, and haptic interfaces. Compared to the presentation of visual and auditory information, methods for haptic display are not as well developed. To exploit the possibility of haptic interaction for performing assembly or dis-assembly tasks in an electronic prototyping environment, it is imperative to develop the necessary real-time algorithms and software systems, in addition to the force/torque-feedback devices. The PI proposes to design robot algorithms for haptic interaction. Specifically, these include interactive contact determination for non-linear models and deformable bodies, and fast penetration depth computation between general three-dimensional geometric models. The PI will develop prototype software systems and integrate them with force-feedback devices for haptic interaction in virtual prototyping environments. Besides force display, the resulting algorithms and systems will also be useful for robot motion planning and dynamic simulation. The research efforts will be complemented by developing a teaching curriculum in geometric computing for robotics and virtual prototyping, in order to enable better human resource development. In addition to the intellectual pursuit of our research goals, the PI will also interact with potential users of the proposed researchto facilitate technology transition.